/*
*	check_slave.c
*
*	See check.c
*/

#include <stdio.h>
/*  #include <strings.h> */ /* Not in solaris */
#include "commtest.h"

/* #include <sys/types.h>
#include <sys/ipc.h>
#include <sys/shm.h>
#include <sys/time.h>
*/

#include "pvm3.h"

char *robotname;



void err(msg)
  char *msg;
{
FILE *fid;

fid = fopen("commtest.txt","a");
fprintf(fid,msg);
fclose(fid);
} 


void main(argc, argv)
	int argc;
	char **argv;
{
	int ptid;
	char buf[100];

	int i, cmd;
	char proc[32];
	int inum, bufid;
	char myhost[256];
	double angles[MSGLEN], v[MSGLEN],a[MSGLEN];
err("Start \n");
	gethostname(myhost, sizeof(myhost));
	if (inum = pvm_mytid() < 0) {
		pvm_perror("whoami");
	  } else {
	   ptid = pvm_parent();
           /* pvm_setdebug(3); */
           /* communicate successful startup */
	   strcpy(buf, "commtest_slave started on ");
	   gethostname(buf + strlen(buf), 64);

	   pvm_initsend(PvmDataDefault);
	   pvm_pkstr(buf);
	   pvm_send(ptid, 1);
	   while(1){
		bufid = pvm_recv(-1,MSGID);
                pvm_upkint(&cmd,1,1);
                if(cmd&RELMOVE){
		  pvm_upkdouble(angles,MSGLEN,1);
err("Relmove \n");
                }else if(cmd&WORLDMOVE){
		  pvm_upkdouble(angles,MSGLEN,1);
err("Worldmove \n");
		}else if(cmd&SETVA){
		  pvm_upkdouble(v,1,1);
		  pvm_upkdouble(a,1,1);
err("Set VA \n");
		}
		if(cmd&POSQUERY){
		    pvm_initsend(PvmDataDefault);
		  pvm_pkdouble(angles,MSGLEN,1);
		  pvm_send(ptid,MSGID);
err("Posquery \n");
		}
	    }
	exit(0);
	    }
    }